The systems and methods described herein provide improved techniques for OCT guided robotic ophthalmic procedures. A method includes receiving, during OCT scanning of an eye, position data of a plurality of galvanometer scanners from a plurality of absolute and incremental encoders coupled to the corresponding galvanometer scanners. The method further includes receiving scan data related to one or more tissues of the eye. The method further includes determining, a set of first positions of the one or more tissues of the eye in a first 3D coordinate system. The method further includes determining, based on the set of first positions and a mapping between the first and a second 3D coordinate systems, a position in the second 3D coordinate system for a surgical instrument coupled to a robotic device. The method includes causing the robotic device to move the surgical instrument to the position in the second 3D coordinate system.
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5. The apparatus of claim 1, wherein at least one absolute encoder of the plurality of absolute encoders is a sine-cosine encoder.
6. The apparatus of claim 1, wherein at least one absolute encoder of the plurality of absolute encoders is a holographic encoder.
7. The apparatus of claim 1, wherein at least one galvanometer scanner of the plurality of galvanometer scanners is configured to scan in a first direction and wherein at least one other galvanometer scanner of the plurality of galvanometer scanners is configured to scan in a second direction.
8. The apparatus of claim 7, wherein the first direction is perpendicular to the second direction.
9. The apparatus of claim 1, wherein at least one galvanometer scanner of the plurality of galvanometer scanners is a moving-magnet galvanometer scanner.
10. The apparatus of claim 1, wherein the plurality of absolute encoders and the plurality of incremental encoders are adapted to obtain the position data of the plurality of galvanometer scanners.
15. The computer readable medium of claim 11, wherein at least one absolute encoder of the plurality of absolute encoders is a sine-cosine encoder.
16. The computer readable medium of claim 11, wherein at least one absolute encoder of the plurality of absolute encoders is a holographic encoder.
17. The computer readable medium of claim 11, wherein the plurality of absolute encoders and the plurality of incremental encoders are adapted to obtain the position data of the plurality of galvanometer scanners.
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May 3, 2023
October 29, 2024
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